CN111739367A

CN111739367A - Laparoscope simulator

Info

Publication number: CN111739367A
Application number: CN202010466936.9A
Authority: CN
Inventors: 胡逸人
Original assignee: Wenzhou Peoples Hospital
Current assignee: Wenzhou Peoples Hospital
Priority date: 2020-05-28
Filing date: 2020-05-28
Publication date: 2020-10-02

Abstract

The invention discloses a laparoscope simulator, which adopts the technical scheme that the laparoscope simulator comprises a placing plate, a driving device and a model for simulating viscera, wherein the driving device is arranged in a box body, the model is detachably connected to the placing plate, the placing plate is connected with the driving device, a second opening is formed in the side surface of the box body, and when the model is replaced, the driving device drives the placing plate to pass through the second opening so that the model moves out of the box body. The invention has the following beneficial effects: when the operation of simulation is changed to needs, drive arrangement drives and places the board and pass the second opening, makes outside the model removes the box, replaces the model for suitable stand-by model, and drive arrangement drives and places the board and remove in the box, continues to simulate the operation, and it is convenient to change, can change abdominal cavity model to the different abdominal cavity diseases of simulation, thereby give doctor sufficient exercise.

Description

Laparoscope simulator

Technical Field

The present invention relates to a surgical simulator, and more particularly, it relates to a laparoscopic simulator.

Background

The laparoscopic simulator is a training apparatus designed to train a surgeon for laparoscopic surgery. The skill level of the operation can be effectively improved by the doctor who just starts to contact the laparoscopic operation through continuous practice, thereby ensuring that errors are not easy to occur in the operation. Most of the existing laparoscope simulators can only simulate one abdominal disease and cannot provide enough exercise for doctors.

Disclosure of Invention

In view of the shortcomings of the prior art, the present invention is directed to a laparoscopic simulator, which is capable of replacing an abdominal cavity model to simulate different abdominal cavity diseases.

In order to achieve the purpose, the invention provides the following technical scheme: peritoneoscope simulator, including the box, be provided with first opening on the top surface of box, first opening is connected with the bionical layer that is used for simulating skin and muscle, be provided with a plurality of handle holes that are used for supplying the apparatus to pass on the bionical layer, be provided with in the box and place the board, drive arrangement and the model that is used for simulating the viscera, drive arrangement installs in the box, the connection can be dismantled on placing the board to the model, it is connected with drive arrangement to place the board, the side of box is provided with the second opening, when changing the model, drive arrangement drives and places the board and pass the second opening, make the model remove outside the box.

The invention is further configured to: still be provided with slide mechanism in the box, slide mechanism is including first slide rail, first slider and two first stoppers, and first slide rail setting is on the inside wall of box, and first slider is connected on placing the board, and first slider slides and sets up on first slide rail, and two first stoppers set up respectively at the both ends of first slide rail, all are provided with first buffer spacer on two first stoppers orientation first slide rail's the face.

The invention is further configured to: the driving device comprises a driving motor, a chain, a first gear and a second gear, wherein the driving motor is installed on the box body, the driving motor is connected with the first gear and drives the first gear to rotate, the second gear is rotatably connected in the box body, the chain sleeve is arranged on the first gear and the second gear and enables the first gear and the second gear to be connected in a chain mode, the chain is rotatably connected with a driving block, a driving plate is arranged on the placing plate, a long sliding hole is formed in the driving plate, and the driving block is arranged on the long sliding hole in a sliding mode.

The invention is further configured to: the sliding mechanism further comprises a second sliding rail, a second sliding block and two second limiting blocks, the second sliding rail is arranged on the other inner side wall of the box body, the second sliding block is connected to the placing plate, the second sliding block is arranged on the second sliding rail in a sliding mode, the two second limiting blocks are respectively provided with two ends of the second sliding rail, and second buffer gaskets are arranged on the surfaces, facing the second sliding rail, of the two second limiting blocks.

The invention is further configured to: the manipulator that holds the case and be used for changing the model that is used for holding a plurality of models still is provided with the third opening on the side that holds the case, holds the incasement and is provided with a plurality of dull and stereotypes that are used for placing the model, and dull and stereotyped from the top down sets up horizontally in proper order, is provided with the standing groove with model bottom adaptation on the dull and stereotyped.

The invention is further configured to: the manipulator is provided with a lifting device and a plurality of rotating arms, the plurality of rotating arms are provided with control motors, the model is provided with a clamping plate, and the clamping plate is provided with a clamping groove matched with the manipulator.

The invention is further configured to: the containing box is arranged below the box body, a connecting plate and a visual sensor used for detecting the position of the model are arranged on the containing box, and one end of the connecting plate is connected with the lifting device.

The invention is further configured to: a plurality of first grooves are formed in the placing plate, first magnetic pieces are arranged in the first grooves, a plurality of second grooves are formed in the bottom surface of the model, second magnetic pieces are arranged in the second grooves, and the first magnetic pieces and the second magnetic pieces attract each other.

The invention is further configured to: the baffle is hinged to the outer side wall of the box body, the baffle is arranged above the second opening, the reinforcing protrusion is arranged on the edge of the second opening, the limiting protrusion is arranged on the baffle, the reinforcing protrusion and the limiting protrusion are both in a mouth shape, the inner side of the limiting protrusion is provided with a bevel edge, and when the baffle blocks the second opening, the limiting protrusion is sleeved on the reinforcing protrusion.

The invention is further configured to: still be provided with first telescopic link on the box, the one end of first telescopic link is rotated and is connected on the baffle.

In conclusion, the invention has the following beneficial effects: when the simulation operation is carried out, the simulation is carried out by inserting the existing operation equipment into the operation hole, and the simulation layer and the model are also arranged, so that the simulation degree is improved. When the operation of simulation is changed to needs, drive arrangement drives and places the board and pass the second opening, makes outside the model removes the box, replaces the model for suitable stand-by model, and drive arrangement drives and places the board and remove in the box, continues to simulate the operation, and it is convenient to change, can change abdominal cavity model to the different abdominal cavity diseases of simulation, thereby give doctor sufficient exercise.

Drawings

FIG. 1 is a perspective view of a laparoscopic simulator;

FIG. 2 is a perspective view of a housing of the laparoscope simulator;

FIG. 3 is a schematic view of a baffle structure of the laparoscopic simulator;

FIG. 4 is a schematic view of a first slide rail structure of the laparoscopic simulator;

FIG. 5 is a schematic view of a second slide rail structure of the laparoscopic simulator;

fig. 6 is a schematic view of a model connection structure of the laparoscopic simulator.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "bottom" and "top," "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.

Referring to fig. 1-6, the laparoscope simulator comprises a box body 1, a first opening 11 is arranged on the top surface of the box body 1, the first opening 11 is connected with a bionic layer 12 for simulating skin and muscle, a plurality of operation holes 13 for instruments to pass through are arranged on the bionic layer 12, a placing plate 3, a driving device 4 and a model 2 for simulating viscera are arranged in the box body 1, the driving device 4 is installed in the box body 1, the model 2 is detachably connected to the placing plate 3, the placing plate 3 is connected with the driving device 4, a second opening 14 is arranged on the side surface of the box body 1, and when the model 2 is replaced, the driving device 4 drives the placing plate 3 to pass through the second opening 14, so that the model 2 moves out of the box body 1.

Through the scheme, when a simulation operation is performed, the simulation is performed by inserting the existing surgical equipment into the operation hole 13, and the bionic layer 12 and the model 2 are also included, so that the simulation degree is improved. When the operation of simulation needs to be changed, drive arrangement 4 drives and places board 3 and pass second opening 14, makes model 2 remove outside box 1, replaces model 2 with suitable standby model 2, and drive arrangement 4 drives and places board 3 and remove in box 1, continues to simulate the operation, and it is convenient to change, can change abdominal cavity model to simulate different abdominal cavity diseases, thereby give doctor sufficient exercise.

In the process of simulation operation, in order to improve the fidelity, model 2 can be damaged after using, and this simulator can replace fast, and repetitive training can effectively improve the proficiency of operation to need not to take off the operation equipment, just can continue to take exercise, save time improves the efficiency of taking exercise.

As an improved specific embodiment, a sliding mechanism 5 is further disposed in the box body 1, the sliding mechanism 5 includes a first slide rail 51, a first slider 52 and two first limiting blocks 511, the first slide rail 51 is disposed on the inner side wall of the box body 1, the first slider 52 is connected to the placing plate 3, the first slider 52 is slidably disposed on the first slide rail 51, the two first limiting blocks 511 are respectively disposed at two ends of the first slide rail 51, and the surfaces of the two first limiting blocks 511 facing the first slide rail 51 are both provided with first buffer gaskets 512.

Through above-mentioned scheme, place board 3 and slide through slide mechanism 5 for it is more steady to remove. The first slider 52 is slidably coupled to the first slide rail 51 so that the placing plate 3 can move along the length direction of the first slide rail 51, thereby ensuring smooth movement. The two first limiting blocks 511 limit the moving distance of the first sliding block 52, so that the sliding block 52 is prevented from being separated from the first sliding rail 51, the first buffer gaskets 512 reduce the impact generated by limitation, and the damage and vibration generated by collision are reduced.

As an improved specific embodiment, the driving device 4 includes a driving motor 41, a chain 42, a first gear 43 and a second gear 44, the driving motor 41 is installed on the box 1, the driving motor 41 is connected with the first gear 43 and drives the first gear 43 to rotate, the second gear 44 is rotatably connected in the box 1, the chain 42 is sleeved on the first gear 43 and the second gear 44 and enables the first gear 43 and the second gear 44 to be connected in a chain manner, a driving block 421 is rotatably connected on the chain 42, a driving plate 31 is arranged on the placing plate 3, a long sliding hole 311 is arranged on the driving plate 31, and the driving block 421 is slidably arranged on the long sliding hole 311.

Through the above scheme, driving motor 41 drives first gear 43 and rotates, first gear 43 passes through chain 42 and is connected with second gear 44 chain, and the drive rotates, drive block 421 moves along with chain 42, at the in-process that removes, drive plate 31 and place board 3 reciprocating motion, long slide opening 311 is convenient for drive block 421 to slide, supply drive block 421 to reciprocate, at the in-process that reciprocates, it will pause to place board 3, so that motor 41 stall, improve the fault-tolerant rate, driving motor 41 adopts step motor, be convenient for control. The driving device 4 is engaged with the sliding mechanism 5, and can achieve the effect of stable movement.

As a modified specific embodiment, the sliding mechanism 5 further includes a second slide rail 53, a second slider 54 and two second limiting blocks 531, the second slide rail 53 is disposed on another inner side wall of the box body 1, the second slider 54 is connected to the placing plate 3, the second slider 54 is slidably disposed on the second slide rail 53, the two second limiting blocks 531 are respectively provided with two ends of the second slide rail 53, and the surfaces of the two second limiting blocks 531 facing the second slide rail 53 are both provided with second buffer spacers 532.

Through the scheme, the double-slide rail structure has a better supporting effect, so that the sliding is more stable. First slide rail 51 sets up with second slide rail 53 is symmetrical for place board 3 and can remove along fixed direction, avoid removing the skew or place board 3 vibration, guarantee the steady of sliding. The two second limiting blocks 531 limit the moving distance of the second slider 54, so that the second slider 54 is prevented from being separated from the second slide rail 53, the second buffer gaskets 532 reduce the impact generated by limitation, and the damage and vibration generated by collision are reduced.

As a modified specific embodiment, the robot further comprises a containing box 6 for containing a plurality of models 2 and a manipulator 7 for replacing the models 2, a third opening 61 is arranged on the side surface of the containing box 6, a plurality of flat plates 62 for placing the models 2 are arranged in the containing box 6, the flat plates 62 are sequentially and horizontally arranged from top to bottom, and a placing groove 621 matched with the bottom of the model 2 is arranged on the flat plates 62.

Through above-mentioned scheme, will place model 2 on the board 3 and the change of the model 2 that holds in the case 6 through manipulator 7 to realize the function of automatic change, need not the manual change, improve and change efficiency. The placement slot 621 enables the mold 2 to be defined, placing the mold 2 in a fixed position on the plate 62, so that the robot 7 can grasp and place the mold, avoiding the occurrence of errors. The third opening 61 facilitates the extension of the manipulator 7 into the containment box 6 and the plate 62 facilitates the placement of the model 2.

As a modified specific embodiment, the manipulator 7 is provided with a lifting device 71 and a plurality of rotating arms 72, the plurality of rotating arms 72 are provided with control motors 73, the model 2 is provided with a clamping plate 21, and the clamping plate 21 is provided with a clamping groove 211 adapted to the manipulator 7.

Through the scheme, the lifting device 71 controls the lifting of the manipulator 7, the lifting device can be a lifting platform or a telescopic rod, the control motor 73 drives the rotating arms 72 to rotate, the manipulator 7 is more flexible due to the fact that the rotating arms 72 are arranged, the manipulator 7 can be conveniently grabbed by the clamping plate 21 on the model 2, the clamping groove 211 can avoid the clamping plate 21 from rotating and deviating relative to the manipulator 7, and therefore grabbing or placing errors are avoided, and automatic replacement can be smoothly completed.

As a modified specific embodiment, the containing box 6 is arranged below the box body 1, the containing box 6 is provided with a connecting plate 63 and a vision sensor 64 for detecting the position of the model 2, and one end of the connecting plate 63 is connected with a lifting device 71.

Through above-mentioned scheme, hold case 6 and 1 fixed connection of box, avoid holding case 6 skew, detect the position of snatching model 2 in addition vision sensor 64 to avoid snatching model 2 error, improve the precision that model 2 placed, so that reach better training effect. The connecting plate 63 is connected with the lifting device 71, the manipulator 7 is connected with the box body 1 and the containing box 6, the position deviation of the manipulator 7 is avoided, and the grabbing precision of the manipulator 7 is improved.

As a modified specific embodiment, a plurality of first grooves 32 are provided on the placing plate 3, a first magnetic member 321 is provided in each of the plurality of first grooves 32, a plurality of second grooves 22 are provided on the bottom surface of the model 2, a second magnetic member 221 is provided in each of the plurality of second grooves 22, and the first magnetic member 321 and the second magnetic member 221 attract each other.

Through the scheme, the first magnetic piece 321 and the second magnetic piece 221 attract each other, so that the model 2 can be stably placed on the placing plate, connection between the first magnetic piece and the placing plate is strengthened, the model 2 is positioned, the model 2 can be accurately placed on a proper position, and the quality of a training ground is guaranteed.

As an improved specific embodiment, a baffle 15 is hinged to the outer side wall of the box body 1, the baffle 15 is disposed above the second opening 14, a reinforcing protrusion 141 is disposed along the edge of the second opening 14, a limiting protrusion 151 is disposed on the baffle 15, the reinforcing protrusion 141 and the limiting protrusion 151 are both in a "mouth" shape, an inclined edge 152 is disposed on the inner side of the limiting protrusion 151, and when the baffle 15 blocks the second opening 14, the limiting protrusion 151 is sleeved on the reinforcing protrusion 141.

Through the above scheme, the inclined edge 152 is convenient for the limiting protrusion 151 to be sleeved on the reinforcing protrusion 141, the opening shape is favorable for reinforcing the second opening 14, the damage is avoided, the reinforcing protrusion 141 and the limiting protrusion 151 are also favorable for mutually matching and reinforcing the shielding effect, the inside and the outside are isolated, the sealing effect is enhanced, the external light irradiation and the dust entering are avoided, and the real operation environment is simulated as much as possible. The baffle 15 is hinged above the second opening 14, so that the baffle 15 automatically falls along with gravity after being pushed away, and the second opening 14 can be shielded internally.

As a modified specific embodiment, the box body 1 is further provided with a first telescopic rod 16, and one end of the first telescopic rod 16 is rotatably connected to the baffle 15.

Through the scheme, the first telescopic rod 16 controls the baffle 15 to rotate, so that the shielding effect of the second opening 14 is guaranteed. When the placing plate 3 extends out of the second opening 14, the first telescopic rod 16 drives the baffle plate 15 to rotate, so that the placing plate can be smoothly moved out of the box body 1, and the placing plate can be placed without affecting the model 2.

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.

Claims

1. Peritoneoscope simulator, including box (1), characterized by: be provided with first opening (11) on the top surface of box (1), first opening (11) are connected with bionical layer (12) that is used for simulating skin and muscle, be provided with a plurality of handle holes (13) that are used for supplying the apparatus to pass on bionical layer (12), be provided with in box (1) and place board (3), drive arrangement (4) and be used for simulating model (2) of viscera drive arrangement (4) are installed in box (1), connection can be dismantled on placing board (3) in model (2), it is connected with drive arrangement (4) to place board (3), the side of box (1) is provided with second opening (14), and when changing model (2), drive arrangement (4) drive and place board (3) and pass second opening (14), make model (2) move outside box (1).

2. The laparoscopic simulator of claim 1, wherein: still be provided with slide mechanism (5) in box (1), slide mechanism (5) are including first slide rail (51), first slider (52) and two first stopper (511), first slide rail (51) set up on the inside wall of box (1), first slider (52) are connected on placing board (3), first slider (52) slide and set up on first slide rail (51), two first stopper (511) set up respectively at the both ends of first slide rail (51), two all be provided with first buffer gasket (512) on first stopper (511) the face towards first slide rail (51).

3. The laparoscopic simulator of claim 2, wherein: drive arrangement (4) are including driving motor (41), chain (42), first gear (43) and second gear (44), driving motor (41) are installed on box (1), driving motor (41) are connected with first gear (43) to it is rotatory to drive first gear (43), second gear (44) rotate to be connected in box (1), chain (42) cover is established on first gear (43) and second gear (44), and make first gear (43) and second gear (44) chain connection, it is connected with drive block (421) to rotate on chain (42), it is provided with drive plate (31) on board (3) to place, be provided with long sliding hole (311) on drive plate (31), drive block (421) slide and set up on long sliding hole (311).

4. The laparoscopic simulator of claim 3, wherein: the sliding mechanism (5) further comprises a second sliding rail (53), a second sliding block (54) and two second limiting blocks (531), the second sliding rail (53) is arranged on the other inner side wall of the box body (1), the second sliding block (54) is connected to the placing plate (3), the second sliding block (54) is arranged on the second sliding rail (53) in a sliding mode, the two second limiting blocks (531) are respectively provided with two ends of the second sliding rail (53), and the two second limiting blocks (531) are provided with second buffer gaskets (532) on the surfaces, facing the second sliding rail (53), of the second limiting blocks (531).

5. The laparoscopic simulator of claim 4, wherein: still including the manipulator (7) that hold case (6) and be used for changing model (2) that are used for holding a plurality of models (2), be provided with third opening (61) on the side of holding case (6), be provided with a plurality of dull and stereotyped (62) that are used for placing model (2) in holding case (6), dull and stereotyped (62) from the top down level setting in proper order, be provided with on dull and stereotyped (62) with standing groove (621) of model (2) bottom adaptation.

6. The laparoscopic simulator of claim 5, wherein: the manipulator is characterized in that the manipulator (7) is provided with a lifting device (71) and a plurality of rotating arms (72), the plurality of rotating arms (72) are provided with control motors (73), the model (2) is provided with a clamping plate (21), and the clamping plate (21) is provided with a clamping groove (211) matched with the manipulator (7).

7. The laparoscopic simulator of claim 6, wherein: the accommodating box (6) is arranged below the box body (1), a connecting plate (63) and a visual sensor (64) for detecting the position of the model (2) are arranged on the accommodating box (6), and the connecting plate (63) is connected with a lifting device (71).

8. The laparoscopic simulator of any one of claims 1 to 7, wherein: the placing plate (3) is provided with a plurality of first grooves (32), a plurality of first magnetic pieces (321) are arranged in the first grooves (32), a plurality of second grooves (22) are arranged on the bottom surface of the model (2), a plurality of second magnetic pieces (221) are arranged in the second grooves (22), and the first magnetic pieces (321) and the second magnetic pieces (221) are mutually attracted.

9. The laparoscopic simulator of any one of claims 1 to 7, wherein: articulated on the lateral wall of box (1) have baffle (15), baffle (15) set up in second opening (14) top, edgewise be provided with on second opening (14) and strengthen protruding (141), be provided with spacing arch (151) on baffle (15), it all is "mouthful" form to strengthen protruding (141) and spacing arch (151), be provided with hypotenuse (152) on the inboard of spacing arch (151), when baffle (15) sheltered from second opening (14), spacing arch (151) cover was established on strengthening protruding (141).

10. The laparoscopic simulator of claim 9, wherein: the box body (1) is further provided with a first telescopic rod (16), and one end of the first telescopic rod (16) is rotatably connected to the baffle (15).